//Esta Classe eh responsavel por controlar totalmente os movimentos do OMNI

#ifndef OMNI_H
#define OMNI_H

#include "sensors.h"
#include <cmath>
#include <sys/time.h>
#include <pthread.h>

#define DIR 	3
#define ESQ 	4
#define CW  	5
#define CCW 	6

using namespace std;

class omni : protected sensors // classe omni herda todas as funcoes das classes arduino e sensors
{
	public:
		omni( int whichOne );
		~omni();
		
		int go( int dir, float mm );
		int turn( int sentido, float angles );
		int alinhaIR( int faceDoRobo, int intOUext );
		bool le_msgEnviada();
		void set_timeOutEstourado(bool arg);
		long int le_timeOut();
		void reset();
		struct timeval le_t_envio();
	private:

};

#endif

